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An Optimal control-Based Distributed Reinforcement Learning Framework for A Class of Non-Convex Objective Functionals of the Multi-Agent Network

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IEEE/CAA Journal of Automatica Sinica 2023年第11期10卷 2081-2093页

作者： Zhe Chen Ning Li Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240 Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Department of Automation Tsinghua UniversityBeijing 100084China IEEE

This paper studies a novel distributed optimization problem that aims to minimize the sum of the non-convex objective functionals of the multi-agent network under privacy protection, which means that the local objective of each agent is unknown to others. The above problem involves complexity simultaneously in the time and space aspects. Yet existing works about distributed optimization mainly consider privacy protection in the space aspect where the decision variable is a vector with finite dimensions. In contrast, when the time aspect is considered in this paper, the decision variable is a continuous function concerning time. Hence, the minimization of the overall functional belongs to the calculus of variations. Traditional works usually aim to seek the optimal decision function. Due to privacy protection and non-convexity, the Euler-Lagrange equation of the proposed problem is a complicated partial differential ***, we seek the optimal decision derivative function rather than the decision function. This manner can be regarded as seeking the control input for an optimal control problem, for which we propose a centralized reinforcement learning(RL) framework. In the space aspect, we further present a distributed reinforcement learning framework to deal with the impact of privacy protection. Finally, rigorous theoretical analysis and simulation validate the effectiveness of our framework.

关键词： Distributed optimization multi-agent optimal control reinforcement learning(RL)

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A DSP/FPGA -based parallel architecture for real-time image processing

A DSP/FPGA -based parallel architecture for real-time image ...

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6th World Congress on intelligent control and Automation, WCICA 2006

作者： Luxin, Yan Tianxu, Zhang Sheng, Zhong Institute of Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China Key Laboratory for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)1424403324

DSP/FPGA-based parallel architecture oriented to real-time image processing applications is presented. The architecture is structured with high performance DSPs interconnected by FPGA. Within FPGA a FIFO interconnection network and the specific data communication protocol are implemented, which interconnect 3 DSPs (TMS320C6414) effectively. The measured performances in the prototype with the proposed parallel architecture, including inter-DSP data communication performance and system computing capacity, show high data transfer bandwidth (up to 400 Mbytes/s) with low latency as well as high image processing performance, which achieve a good balance for parallel image processing. © 2006 IEEE.

关键词： Digital signal processing

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Adaptive dynamic surface control for quadrotor-slung load transportation system with uncertainties

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Science China(Technological Sciences) 2023年第10期66卷 2917-2929页

作者： DING Feng HUANG Jian SUN Chong AI Yong XU WenXia YANG ChenGuang School of Computer Science South-Central Minzu UniversityWuhan 430074China Key Laboratory of Ministryof EducationforImage Processing and Intelligent ControlHubei Key Laboratoryof Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and TechnologyWuhan 430074China School of Computer Science and Engineering Wuhan Institute of TechnologyWuhan 430205China Key Laboratory of Ministry of Education for Autonomous Systems and Networked Control Guangdong Engineering Technology Research Center of Control of Intelligent SystemsCollege of Automation Science and EngineeringSouth China University of TechnologyGuangzhou 510640China

Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.

关键词： quadrotor-slung load transportation system dynamic surface control adaptive law cascade system model uncertainties

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Tuning of Auto-Disturbance Rejection controller based on the invasive weed optimization

Tuning of Auto-Disturbance Rejection Controller based on the...

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6th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2011

作者： Chen, Zhihua Wang, Shuo Deng, Zhonghua Zhang, Xuncai Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China School of Electrical and Electronic Engineering Zhengzhou University of Light Industry Zhengzhou 450002 China

ISBN: (纸本)9780769545141

Auto-Disturbance Rejection controller (ADRC) has been proved to be a capable replacement of PID with unmistakable advantage in performance and practicality. But it is difficult to obtain a set of optimal parameters, for ADRC controller has too many parameters and has no deterministic rules to compute the parameters. In this paper, Objective function is constructed based on the control system performance indexes. Combined with experienced parameters of ADRC, an invasive weed optimization algorithm (IWO) is employed to obtain a set of key parameters. The simulation results show the validity of the IWO algorithm. © 2011 IEEE.

关键词： Invasive weed optimization

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Integer Haar wavelet for romote sensing image compression 6

Integer Haar wavelet for romote sensing image compression

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6th International Conference on Signal processing, ICSP 2002

作者： Zhenhua, Wang Hongbo, Xu Yan, Tian Jinwen, Tian Jian, Liu State Key Lab. for Image Processing and Intelligent Control Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)0780374886

With the development of remote sensing technique, onboard data compression has become an urgent need and a lot of study has been directed toward the development of efficient techniques. In this paper, the construction approach of integer Haar is discussed briefly, and a'simple image compression scheme based on integer Haar Wavelet Transform and block DPCM is proposed. The scheme can be easily designed for data processing in real-time system of remote sensing with parellel algorithm. Simulation experimental results demonstrate that the proposed approach is a efficient image compression method. © 2002 IEEE.

关键词： image compression

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Reward Shaping-based Double Deep Q-networks for Unmanned Surface Vessel Navigation and Obstacle Avoidance 48

Reward Shaping-based Double Deep Q-networks for Unmanned Sur...

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48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Gan, Zihan Zheng, Jinghong Jiang, Zhenyu Lu, Renzhi Huazhong University of Science and Technology Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Wuhan430074 China Wuhan University of Science and Technology Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan430081 China

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

In this paper, a method for navigation and obstacle avoidance of unmanned surface vessel (USV) based on reinforcement learning and reward shaping is proposed. This approach uses double deep Q networks (DDQN) to make decisions based on the continuous states observed from sensors in USV. In addition, a new reward function is designed based on prior knowledge to accelerate the convergence of the algorithm and improve the performance. For training the neural networks, a simulation platform is developed, in which a 3 degree of freedom mathematical model describes USV dynamic system and two-dimension actions are required to control USV. Simulation results on the platform demonstrate the DDQN hoists USV's capabilities of navigation and obstacle avoidance, and reward shaping technique improves the speed of convergence. © 2022 IEEE.

关键词： Reinforcement learning

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Indoor 3D scene reconstruction for mobile robots using Microsoft kinect sensor 35

Indoor 3D scene reconstruction for mobile robots using Micro...

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第35届中国控制会议

作者： LI Jiang-Wei ZHENG Ding-Fu GUAN Zhi-Hong CHEN Chao-Yang JIANG Xiao-Wei ZHANG Xian-He College of Automation Huazhong University of Science and Technology The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control (Huazhong University of Science and Technology) School of Information and Electrical Engineering Hunan University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781509009107

3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.

关键词： 3D mapping Kinect OctoMap Mobile Robots

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Fast detection and symptom analysis of cracks in highway asphalt pavement

Fast detection and symptom analysis of cracks in highway asp...

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MIPPR 2009 - Pattern Recognition and Computer Vision: 6th International Symposium on Multispectral image processing and Pattern Recognition

作者： Hong, Hanyu Zhang, Xiuhua Yu, Jiuyang Laboratory of Image Processing and Intelligent Control Wuhan Institute of Technology Wuhan 430074 China Institute for Technology Research and Innovation Deakin University VIC 3217 Australia

ISBN: (纸本)9780819478078

A method for real-time fast detection and symptom analysis of cracks in highway asphalt pavement is proposed. At the first step, the fissure characteristic of the acquired and de-noised pavement images is analyzed and then extracted by the method based on gray value comparison between the current pixel and its neighboring pixels, the false cracks are deleted by using the computed measurement of crack features, thus the true fissures are detected. The most important step is the symptom analysis of the cracks in the pavement image, all the data could be analyzed and be the basis for the agencies to remedy and manage the pavement. Quantities of images are processed and the results show that the proposed method can detect the pavement distress information actually, and has robustness and availability. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Feature extraction

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FIFAWC:a dataset with detailed annotation and rich semantics for group activity recognition

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Frontiers of Computer Science 2024年第6期18卷 271-272页

作者： Duoxuan PEI Di HUANG Yunhong WANG State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Intelligent Recognition and Image Processing Lab. School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

1 *** Activity Recognition(GAR),which aims to identify activities performed collectively in videos,has gained significant attention *** conventional action recognition centered on single individuals,GAR explores the c... 详细信息

关键词： has collective gained

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Fusion Algorithm for Remote Sensing images Based on Nonsubsampled Contourlet Transform

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自动化学报 2008年第3期34卷 274-281页

作者： YANG Xiao-Hui JIAO Li-Cheng Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information ProcessingXidian UniversityXi＇an 710071P.R.China

就图象的人的视觉系统和特征而言，新奇图象熔化策略为在 nonsubsampled contourlet 的高分辨率图象和 multispectral 图象转变的 panchro matic (NSCT ) 被介绍域。NSCT 能由它好 multiresolution，移动不变性，和高 directionality ... 详细信息

就图象的人的视觉系统和特征而言，新奇图象熔化策略为在 nonsubsampled contourlet 的高分辨率图象和 multispectral 图象转变的 panchro matic (NSCT ) 被介绍域。NSCT 能由它好 multiresolution，移动不变性，和高 directionality 的特征的优点在图象给 asymptotic 边和轮廓的最佳的表示。紧张部件增加策略基于 LHS 变换被介绍进 NSCT 领域保存空间分辨率和颜色内容。熔化方法建议了的实验表演能改进空间分辨率并且保留光谱信息同时，并且与传统的原则部件分析( PCA )相比在视觉效果和量的肛门 ysis 两个都有改进方法， intensity-hue-saturation (代表耶稣之符号)变换技术，小浪变换加权的熔化方法，相应小浪基于变换的熔化方法，和 contourlet 基于变换的熔化方法。

关键词：混合算法遥感图象强度组分添加非子采样Contourlet变换 LHS变换

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